Lecture 2 1005 2016

Theoretical Mechanics I
Office - Phys 610
kuoan.wu@gmail.com
10/05/2016
Syllabus
(M3M4W2) ( 019)
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: 7:00-8:30 (R504)
MOODLE
: http://moodle.nthu.edu.tw
Office Hour:
Analytical Mechanics by L. N. Hand and J. D. Finch
3:30PM - 5PM every
Mechanics by L. D. Landau and M. Lifshitz Wednesday in my office (R610)
Classical Mechanics by H. Goldstein
Classical Dynamics of Particles and Systems by S. T. Thornton and J. B. Marion
:
e course grade will be composed of
Homework Sets (30%). Collaboration on homework set is encouraged, however
must write up your own reasoning independently.
Exams: midterm (Nov. 14th - 35%) and final (Jan. 9th - 35%)
Extra Credits
: (j1995317@gmail.com)
Lecture 2 Lagrangian Mechanics
Joseph-Louis LagrangeLecture 2 Lagrangian Mechanics Hand Ch. 1

Goldstein 1-3 1-6
o Generalized Coordinates and Constraints
o Holonomic Constraints
o Newtonian Mechanics and Constraints
o Virtual Work and dAlemberts Principle
o Generalized Equations of Motions
1736-1813
o Euler-Lagrange Equation
Mcanique analytique
Main difference between Newtonian Mechanics and Lagrangian Mechanics

o Vectorial Mechanics (use vectorial forces) Newtonian Mechanics
o Analytical Mechanics (use scalar quantities) Lagrangian Mechanics
Hamiltonian Mechanics
Degrees of Freedom and
Constraints
es of Freedom (DOF) The degrees of freedom is the number of independent variables

ed to describe completely the configuration (positions) of a mechanical system.
Examples:
N free particles in 3 dimensional space 3N degrees of freedom
A particle moving on the surface of a sphere with a fixed radius r

z 2 degrees of freedom
(In spherical coordinates, only requires and
to describe the location of the particle)
y
Constraints usually reduce the number of
degrees of freedom
x
onstraints Conditions that restrict the motion of the system
Constraint :
A particle moving on the surface of a sphere
The radial position of the particle is a constan
Degrees of Freedom and
Constraints
How many degrees of freedom for a rigid rotor?

(Two point masses connected by a rigid rod, such as diatomic molecule with a rigid bond
If these two point masses are free particles, then the degrees of freedom is 6
(each free particle has 3 degrees of freedom)
r, since they are connected by a rigid rod, the relative distance between two masses is h
There are only 5 independent coordinates (variables) The degree of freedom is 5.
How about three point masses connected by

How about three point masses connected b
two rigid rods? three rigid rods?
DOF = 7 DOF = 6
Constraints
Constraints usually reduce the number of independent coordinates.

ynamics of N particles subjected to constraints can usually be described by less than 3N va
Generalized coordinates
Position vectors of N particles
(Independent variables)
Example: particle moving on the surface of a sphere with a fixed radius ro
z
The spherical coordinates of the particle are
The constraint is simply that r = ro

y there are only 2 generalized coordinates , and
Then
x
Constraints

ypes of constraints Holonomic constraints and Nonholonomic constraints.

Holonomic constraints:
he position vectors under constraints can be expressed as functions of generalized coordin
r a holonomic constraint, it must be expressible as a function that
ere are k holonomic constraints for a N-particle system, then the DOF of the system is 3N
ample: DOF of a particle moving on the surface of a sphere is 3 1 = 2
mple: DOF of rigid rotor is 6 1 = 5. There are 5 generalized coordinates. 3 of them describ
on of center of mass, 2 of them describe the angle of rotation.
Why is it sufficient to use 2 angles to describe
the rotation?
Constraints

ts choose the center of mass of the rigid rod as the origin,

z
Since the bond length is fixed, these two ends can
only move on the surface of a sphere with diameter
equal to the bond length
CM
y
Then it is similar to a particle that is constrained to
move on a spherical surface
x
Thus 2 generalized coordinates , and , are sufficien
to describe the rotation
Constraints


Two types of holonomic constraints Scleronomic constraints and Rheonomic constraints.
Scleronomic constraints : Time independent holonomic constraints
Rheonomic constraints : Time dependent holonomic constraints
Example: a simple pendulum Example: a simple pendulum subjected to vertical oscilla

O(0,0) O(0, h sint)
L It is a scleronomic constraint It is a rheonomic constraint

L
The generalized coordinate is The generalized coordinate is

Constraints


he position vectors under constraints can be expressed as functions of generalized coordin
r a holonomic constraint, it must be expressible as a function that
types of holonomic constraints Scleronomic constraints and Rheonomic constraints.

Nonholonomic constraints:
Constraints that are not holonomic constraints. particle is confined within a circle
Examples: Inequalities (particles confined
in a container), certain velocity dependent O (0, 0)
constraints (rolling)
Constraints
holonomic constraints: Constraints that are not holonomic constraints.

ples: Inequalities (particles confined in a container), certain velocity dependent constraints
(Non-integrable differential nonholonomic constrain
olling Consider a vertical disk (of radius a) rolling on a horizontal plane (x-y plane)
z
How many coordinates do we need to describe the system?
We need to know two angles and
Projection of the position of the center of the disk is re
to and by the constraint that
y
We can multiply an integrating factor g(x, ) to make it a general f
Multiplied by dt, we get two differential equations of constrain
x
ver, we cant integrate these two equations to the form of and

That is, neither of these equation can be written as an exact differential.
You can easily see that
ts say if does exist, then
Thus f1 doesnt exist.

Constraints
holonomic constraints: Constraints that are not holonomic constraints.

ples: Inequalities (particles confined in a container), certain velocity dependent constraints
(Non-integrable differential nonholonomic constrain
hat about the two-dimensional motion of a disk rolling down a fixed inclined plane?
x
Is the constraint holonomic or nonholonomic?

The inclined plane
is fixed on the table
Summary about constraints

or a holonomic constraint, it must be expressible as a function that
en the position vectors can be expressed as functions of generalized coordinates.
Scleronomic constraints : Time independent holonomic constraints

Rheonomic constraints : Time dependent holonomic constraints
nholonomic constraints: Constraints that are not holonomic constraints.

Goldstein 1-3 1-6
1736-1813
Mcanique analytique

Newtonian Mechanics and
Constraints
y A block sliding on an inclined plane

m
Frictionless surfaces
x
h
M Frictionless table

How many degrees of freedom?
Block m can only move along the inclined plane

DOF = 2
Inclined plane M can only move in x direction
We can get the same conclusion from the perspective of constraints:

If both block m and inclined plane M are free, then
there are 4 DOF, but there are two constraints (block
m is confined to move on the inclined plane, and the
Inclined plane M is confined to move on the table,
two holonomic constraints). So DOF = 4 2 = 2.
Constraints
A block sliding on an inclined plane
m
y
h Frictionless table
M
x
me the block starts from rest at the top of inclined plane, how long will it take to reach the
It is convenient to use and to describe the motion of the system:
: displacement of block m relative to the top of the inclined plane.
: displacement of the inclined plane relative to the table.
How many unknown variables and how many equations?
Force diagrams:
Constraint force
Constraint force
m M
Unknown variables a, A, F1, F2
Number of equations 4 equations Mg
mg
Constraint force
Constraints
A block sliding on an inclined plane Constraint force
m
y
m
M mg
x
me the block starts from rest at the top of inclined plane, how long will it take to reach the
It is convenient to use and to describe the motion of the system:
: displacement of block m relative to the top of the inclined plane.
Given that both quantities are
: displacement of the inclined plane relative to the table.
zero at t = 0.
Write down Newtons law for the block m:
The components along and perpendicular to the inclined surface are
Since the block m moves along the inclined plane,

Constraint force
Constraints
m M
y
M Mg
x Constraint force
For block m, we have obtained
Next, write down Newtons law for the inclined plane M:
The components along and perpendicular to the table surface are
nce were interested in the motion of block m, we can solve from the above 4 equation
Constraint force
Constraints
m M
y
M Mg
x Constraint force
AssumeFor
theblock
blockm,
starts fromobtained
we have rest at top of the inclined plane, how long will it take to
reach the bottom?
distance that the block m slides from the top to the bottom of the inclined plane is
Next, write down Newtons law for the inclined plane M:

We can also obtain the unknown
The components along and perpendicular to the table surface
constraint are if wed like to.
forces
nce were interested in the motionMission

of blockaccomplished!
m, we can solve from the above 4 equation
HOWEVER, during the process, we have to solve or eliminate constraint forces
What if the system we try to solve have plenty constraints?


Goldstein 1-3 1-6
1736-1813
Mcanique analytique

dAlemberts Principle
For a system in static equilibrium (the total force acting upon each particle is zero),
en the virtual work defined as the inner product of the force and the virtual displacemen
st be zero.
Note that for a virtual displacement

What is virtual displacement? both time and velocity are held fixed
At a fixed time, an infinitesimal displacement that obeys the constraints on the motion.
For example, a block on a frictionless table
Constraint force
Since the constraint forces are perpendicular to the

y m m virtual displacement,
We obtain the principle of virtual work for equilibriu

x
The force can be decomposed into the applied
orce and the constraint force
Why do we use virtual displacements?
What about system that is not in static equilib
For a system in static equilibrium (the total force acting upon each particle is zero),
en the virtual work defined as the inner product of the force and the virtual displacemen
st be zero.
Note that for a virtual displacement

Why do we use virtual displacement? both time and velocity are held fixed
Why dont we use real displacement?
s take a pendulum
By using with time-dependent
virtual displacement, string
the work length
done for constraint
by the example, force vanishes!!!
O(0,0)
The generalized coordinate is The constraint force is
Lets write down position vector
L(t)
Virtual displacement is
(x, y)
The work done by the constraint force is then
n the other hand, the physical displacement is
he work done by the constraint force is then

The Newtons 2nd law is
It can be written as
ich states that the system will be in equilibrium under a force which equals to the ac
ce plus a reversed effective force
Then similarly we obtain that
The force can be decomposed into the applied

And the constraint forces are perpendicular to th
force and the constraint force virtual displacement,
Good news is that constraint forces

Finally, we obtain
do not appear in the equation
However, this equation looks trivial
This is dAlemberts principle
What can we gain from this?
dAlemberts principle
use of constraints, s are not independent. Thus we cant get any useful information ab
on between the applied force and motion of the particle.
Example: A block sliding on an inclined plane

These two virtual displacements
y
m are not independent
For example, the generalized
m m coordinates in this case are s and X
x M M as shown in previous example
Lets rewrite dAlemberts principle in terms of generalized coordinates.

olonomic constraints, the position vectors can be expressed as functions of generalized coo
Goal use chain rules to replace and with generalized coordinates.

Chain rule gives
onstraint forces no longer appear in the equation, lets drop the superscript (a)
fo
where we define the generalized force( ) Qj as
The algebra is a bit tedious for the second term,

Lets show that Chain rule gives

Lets show that Chain rule gives

Chain rule gives

Chain rule gives

Total kinetic energy of the system, T

Since generalized coordinates are independent from each other, therefore we obtain that fo
each generalized coordinate
Finally we obtain the generalized equations of motion
Quick Q&A: What is the generalized force?

Generalized Equations of Motion
The generalized equations of motion (Generalized force)

where
(Total kinetic energy of the system
e more useful than Newtons 2nd law, since we dont need to know the constraint forces (Th
berts principle). And they are easier to solve since they are scalar equations.
s
y
m
wx
X h
x M
(0,0) wy
X are generalized coordinates, they are distances relative to certain reference lines (dash
The corresponding generalized forces are
Lets write down position vectors and forces

where
e more useful than Newtons 2nd law, since we dont need to know the constraint forces (Th
berts principle). And they are easier to solve since they are scalar equations.
s
y
m
wx
X h
x M
(0,0) wy
X are generalized coordinates, they are distances relative to certain reference lines (dash
Lets write down the total kinetic energy
Lets write down position vectors and forces

where
s
y
m Quick summary:
wx
X h
x M
wy
(0,0)
Generalized equations of motion are
We obtain the same answer as

solved previously using Newton
2nd law. ( )

where
Lets take another example bead sliding on a rotating wire

A rotating wire that rotates around z axis with angular velocity and

z wire is tilted away from the z axis by a fixed angle .
A bead of mass m is constrained to move on the wire.
The motion of the bead can be described by its distance q from the or
Lets obtain the generalized equation of motion.
Write down the position vector of the bead and the applied fo
y
acting upon the bead
t
x
Assume that at t=0, the projection of
he wire aligns with x axis.
The velocity of the bead is
Then we can compute the kinetic energy next

The generalized equations of motion Let (Generalized force)

where
Lets take another example

Let bead sliding on a rotating wire

z
y
The generalized equation of motion is
t
x
The velocity of the bead is What kind of motion is it?


where
Example: Single particle in space subjected to a force
The generalized equation of motion for x is
Similarly, we obtain that

Newtons 2nd law

where
Example: Single particle is constrained to move on a 2D plane subjected to a force

Lets get the equation of motion in terms of the polar coordinates
y
The kinetic energy is
r

The equations of motion are x
Centrifugal term
Angular momentum

where
ample: A spherical pendulum of mass m and the string length a. Find equations of motion
(0, 0, 0)
z
y a
Next, lets calculate the generalized forces,
Lets take and as generalized

coordinates.
Equations of motion are

where
Conservation of angular momentum for
Rotating frame (plane perpendicular to )
(0, 0, 0)
z

y a
a
x
Centrifugal force
Next, lets calculate the generalized forces,

coordinates. The resultant torque is

where
ple: Spring pendulum swinging in a vertical plane (2-dimensionanl motion). A pendulum of

tached to a massless spring. Given that the length of the spring is a0 if the spring is at rest
constant is k.
(0, 0) Two generalized coordinates: angle of the swing and the extension of t
spring relative to a0, d.
Write down the position vector in terms of and d,
The force acted upon the mass is

The generalized forces are

The generalized equations of motion are
where
ple: Spring pendulum swinging in a vertical plane (2-dimensionanl motion). A pendulum of

tached to a massless spring. Given that the length of the spring is a0 if the spring is at rest
constant is k.
(0, 0) Two generalized coordinates: angle of the swing and the extension of t
spring relative to a0, d.
The force acted upon the mass is

dAlemberts Principle &
Lagranges Equation
From dAlemberts principle, we get
(Generalized force)
where
If the forces are derivable from a scalar function U (i.e., conservative forces),
The generalized force can be written as
Euler-Lagrange Equation
ince U is not a function of , we can rewrite the equation asLagranges Equation
Lets define L = T U
(L: Lagrangian)
Lagranges Equation
Lagranges Equation
s y
m
wx
X h x
Lagranges Equation for X
wy M
(0,0)
We obtain Lets write down the total kinetic energy
Lagranges Equation for s
Lets write down the total potential energy

Lagranges Equation
coordinates. is a conserved angular momentum.
(0, 0, 0)
z
y a
Potential energy is
Lagranges Equation
Lagranges Equation
ou can examine whether you obtain the correct equation of motion by taking the limit that
le: Spring pendulum swinging in a vertical plane (2-dimensionanl motion). A pendulum of m
the motion
tached along the
to a massless direction
spring. of that
Given the spring is negligible,
the length of the spring is a0 if the spring is at rest,
or if the
constant is k.angular motion is negligible,
Two generalized coordinates: angle of the swing and the extension of t
(0, 0) spring relative to a0, d.
The potential energy is
Lagranges equations are

Lagranges Equation for a
Dissipative System
(Generalized force)
where
more general case, the forces can be separated into conservative and non-conservative
Lets define L = T U
(L: Lagrangian)
Dissipative System
(Generalized force)
where
more general case, the forces can be separated into conservative and non-conservative
Lets define L = T U
(L: Lagrangian)
Dissipative System
r example, frictional force experienced by a body in air is a non-conservative force

For simplicity, lets only consider a single-particle system,
ore general case is that the frictional force depends on direction,
Rayleighs dissipation function
for a dissipative system
Dissipative System
Example: a simple pendulum experienced an isotropic frictional force

O(0,0)
L
The generalized coordinate is
(x, y)
The Lagrangian is
The Rayleighs dissipation function is


Goldstein 1-3 1-6
1736-1813
Mcanique analytique


Lecture 2 1005 2016

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Theoretical Mechanics I

Office - Phys 610

Joseph-Louis LagrangeLecture 2 Lagrangian Mechanics Hand Ch. 1

Main difference between Newtonian Mechanics and Lagrangian Mechanics

es of Freedom (DOF) The degrees of freedom is the number of independent variables

A particle moving on the surface of a sphere with a fixed radius r

How many degrees of freedom for a rigid rotor?

There are only 5 independent coordinates (variables) The degree of freedom is 5.

How about three point masses connected by

Constraints usually reduce the number of independent coordinates.

Example: particle moving on the surface of a sphere with a fixed radius ro

The constraint is simply that r = ro

Constraints usually reduce the number of independent coordinates.

ypes of constraints Holonomic constraints and Nonholonomic constraints.

r a holonomic constraint, it must be expressible as a function that

Constraints usually reduce the number of independent coordinates.

ts choose the center of mass of the rigid rod as the origin,

Constraints usually reduce the number of independent coordinates.

ypes of constraints Holonomic constraints and Nonholonomic constraints.

Example: a simple pendulum Example: a simple pendulum subjected to vertical oscilla

L It is a scleronomic constraint It is a rheonomic constraint

The generalized coordinate is The generalized coordinate is

Constraints usually reduce the number of independent coordinates.

ypes of constraints Holonomic constraints and Nonholonomic constraints.

r a holonomic constraint, it must be expressible as a function that

types of holonomic constraints Scleronomic constraints and Rheonomic constraints.

holonomic constraints: Constraints that are not holonomic constraints.

ver, we cant integrate these two equations to the form of and

Thus f1 doesnt exist.

holonomic constraints: Constraints that are not holonomic constraints.

Summary about constraints

en the position vectors can be expressed as functions of generalized coordinates.

Scleronomic constraints : Time independent holonomic constraints

Joseph-Louis LagrangeLecture 2 Lagrangian Mechanics Hand Ch. 1

Main difference between Newtonian Mechanics and Lagrangian Mechanics

y A block sliding on an inclined plane

How many degrees of freedom?

Block m can only move along the inclined plane

We can get the same conclusion from the perspective of constraints:

The components along and perpendicular to the inclined surface are

Since the block m moves along the inclined plane,

Next, write down Newtons law for the inclined plane M:

The components along and perpendicular to the table surface are

Next, write down Newtons law for the inclined plane M:

nce were interested in the motionMission

HOWEVER, during the process, we have to solve or eliminate constraint forces

What if the system we try to solve have plenty constraints?

Joseph-Louis LagrangeLecture 2 Lagrangian Mechanics Hand Ch. 1

Main difference between Newtonian Mechanics and Lagrangian Mechanics

Note that for a virtual displacement

Since the constraint forces are perpendicular to the

We obtain the principle of virtual work for equilibriu

Note that for a virtual displacement

he work done by the constraint force is then

The Newtons 2nd law is

The force can be decomposed into the applied

Good news is that constraint forces

Example: A block sliding on an inclined plane

Lets rewrite dAlemberts principle in terms of generalized coordinates.

Goal use chain rules to replace and with generalized coordinates.

where we define the generalized force( ) Qj as

The algebra is a bit tedious for the second term,

The algebra is a bit tedious for the second term,